| Autor: |
Gorez, R., Antonelli, G., Ganseman, C. |
| Zdroj: |
IFAC-PapersOnLine; September 1997, Vol. 30 Issue: 20 p131-138, 8p |
| Abstrakt: |
Sliding mode control could be applied to the control of the point-to-point displacements of robot manipulators. with sliding manifolds defined by simple nonlinear functions of position errors. This results in smooth displacements without requiring preliminary velocity programming. The control law consists of nonlinear functions of the position errors and velocities, multiplied by decoupled signfunctions of the switching variables. Substituting sat functions with limits equal to the bounds on the control actions, and introducing proper integral actions for good positioning accuracy, leads to Variable Structure Control Systems equivalent to nonlinear PID like controllers. Performance of this control system is appraised by experiments on an industrial robot with revolute joints. |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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